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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pri-attribs">Private Attributes</a> &#124;
<a href="classFastTerrainMap-members.html">List of all members</a>  </div>
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<div class="title">FastTerrainMap Class Reference</div>  </div>
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<p>A terrain map class built for fast and efficient sampling.  
 <a href="classFastTerrainMap.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="fast__terrain__map_8h_source.html">fast_terrain_map.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ab243ccba0680afb064c70bead54bf126"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#ab243ccba0680afb064c70bead54bf126">FastTerrainMap</a> ()</td></tr>
<tr class="memdesc:ab243ccba0680afb064c70bead54bf126"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for <a class="el" href="classFastTerrainMap.html" title="A terrain map class built for fast and efficient sampling. ">FastTerrainMap</a> Class.  <a href="#ab243ccba0680afb064c70bead54bf126">More...</a><br /></td></tr>
<tr class="separator:ab243ccba0680afb064c70bead54bf126"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45eff1e523336373471a12c2a8ec12e6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#a45eff1e523336373471a12c2a8ec12e6">loadData</a> (int x_size, int y_size, std::vector&lt; double &gt; x_data, std::vector&lt; double &gt; y_data, std::vector&lt; std::vector&lt; double &gt;&gt; z_data, std::vector&lt; std::vector&lt; double &gt;&gt; dx_data, std::vector&lt; std::vector&lt; double &gt;&gt; dy_data, std::vector&lt; std::vector&lt; double &gt;&gt; dz_data)</td></tr>
<tr class="memdesc:a45eff1e523336373471a12c2a8ec12e6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Load data from a grid_map::GridMap object into a <a class="el" href="classFastTerrainMap.html" title="A terrain map class built for fast and efficient sampling. ">FastTerrainMap</a> object.  <a href="#a45eff1e523336373471a12c2a8ec12e6">More...</a><br /></td></tr>
<tr class="separator:a45eff1e523336373471a12c2a8ec12e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a401cdefb0d963918d0ce29e41aeddbbb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#a401cdefb0d963918d0ce29e41aeddbbb">loadDataFromGridMap</a> (grid_map::GridMap map)</td></tr>
<tr class="memdesc:a401cdefb0d963918d0ce29e41aeddbbb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Load data from a grid_map::GridMap object into a <a class="el" href="classFastTerrainMap.html" title="A terrain map class built for fast and efficient sampling. ">FastTerrainMap</a> object.  <a href="#a401cdefb0d963918d0ce29e41aeddbbb">More...</a><br /></td></tr>
<tr class="separator:a401cdefb0d963918d0ce29e41aeddbbb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1234e83ea4c55f1d92a0120254f120a1"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#a1234e83ea4c55f1d92a0120254f120a1">getGroundHeight</a> (const double x, const double y)</td></tr>
<tr class="memdesc:a1234e83ea4c55f1d92a0120254f120a1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the ground height at a requested location.  <a href="#a1234e83ea4c55f1d92a0120254f120a1">More...</a><br /></td></tr>
<tr class="separator:a1234e83ea4c55f1d92a0120254f120a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae560c6b4bfd86639f71efec2a320d142"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#ae560c6b4bfd86639f71efec2a320d142">getSurfaceNormal</a> (const double x, const double y)</td></tr>
<tr class="memdesc:ae560c6b4bfd86639f71efec2a320d142"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the surface normal at a requested location.  <a href="#ae560c6b4bfd86639f71efec2a320d142">More...</a><br /></td></tr>
<tr class="separator:ae560c6b4bfd86639f71efec2a320d142"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9f48ea3fc615c925917b7c89c363b252"><td class="memItemLeft" align="right" valign="top">std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#a9f48ea3fc615c925917b7c89c363b252">getXData</a> ()</td></tr>
<tr class="memdesc:a9f48ea3fc615c925917b7c89c363b252"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the vector of x_data of the map.  <a href="#a9f48ea3fc615c925917b7c89c363b252">More...</a><br /></td></tr>
<tr class="separator:a9f48ea3fc615c925917b7c89c363b252"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a21322eeb034be71b4f99637e317e9e7e"><td class="memItemLeft" align="right" valign="top">std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#a21322eeb034be71b4f99637e317e9e7e">getYData</a> ()</td></tr>
<tr class="memdesc:a21322eeb034be71b4f99637e317e9e7e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the vector of y_data of the map.  <a href="#a21322eeb034be71b4f99637e317e9e7e">More...</a><br /></td></tr>
<tr class="separator:a21322eeb034be71b4f99637e317e9e7e"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:ab0320569ffaa039ea09b3d136aef5856"><td class="memItemLeft" align="right" valign="top"><a id="ab0320569ffaa039ea09b3d136aef5856"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#ab0320569ffaa039ea09b3d136aef5856">x_size_</a></td></tr>
<tr class="memdesc:ab0320569ffaa039ea09b3d136aef5856"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of elements in the x direction. <br /></td></tr>
<tr class="separator:ab0320569ffaa039ea09b3d136aef5856"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a48326c0351927a0fe4d7c78699ea9188"><td class="memItemLeft" align="right" valign="top"><a id="a48326c0351927a0fe4d7c78699ea9188"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#a48326c0351927a0fe4d7c78699ea9188">y_size_</a></td></tr>
<tr class="memdesc:a48326c0351927a0fe4d7c78699ea9188"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of elements in the y direction. <br /></td></tr>
<tr class="separator:a48326c0351927a0fe4d7c78699ea9188"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa7ab9b4b21f4971ec64e00a936345b29"><td class="memItemLeft" align="right" valign="top"><a id="aa7ab9b4b21f4971ec64e00a936345b29"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#aa7ab9b4b21f4971ec64e00a936345b29">x_data_</a></td></tr>
<tr class="memdesc:aa7ab9b4b21f4971ec64e00a936345b29"><td class="mdescLeft">&#160;</td><td class="mdescRight">The vector of x data. <br /></td></tr>
<tr class="separator:aa7ab9b4b21f4971ec64e00a936345b29"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac086bccc817fb0dd61074e151372f62d"><td class="memItemLeft" align="right" valign="top"><a id="ac086bccc817fb0dd61074e151372f62d"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#ac086bccc817fb0dd61074e151372f62d">y_data_</a></td></tr>
<tr class="memdesc:ac086bccc817fb0dd61074e151372f62d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The vector of y data. <br /></td></tr>
<tr class="separator:ac086bccc817fb0dd61074e151372f62d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06c63f2d551b0a4b0c48c4ff01e58fdd"><td class="memItemLeft" align="right" valign="top"><a id="a06c63f2d551b0a4b0c48c4ff01e58fdd"></a>
std::vector&lt; std::vector&lt; double &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#a06c63f2d551b0a4b0c48c4ff01e58fdd">z_data_</a></td></tr>
<tr class="memdesc:a06c63f2d551b0a4b0c48c4ff01e58fdd"><td class="mdescLeft">&#160;</td><td class="mdescRight">The nested vector of z data at each [x,y] location. <br /></td></tr>
<tr class="separator:a06c63f2d551b0a4b0c48c4ff01e58fdd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a87bd4042b7028930d468b5e9236a5bc6"><td class="memItemLeft" align="right" valign="top"><a id="a87bd4042b7028930d468b5e9236a5bc6"></a>
std::vector&lt; std::vector&lt; double &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#a87bd4042b7028930d468b5e9236a5bc6">dx_data_</a></td></tr>
<tr class="memdesc:a87bd4042b7028930d468b5e9236a5bc6"><td class="mdescLeft">&#160;</td><td class="mdescRight">The nested vector of the x component of the gradient at each [x,y] location. <br /></td></tr>
<tr class="separator:a87bd4042b7028930d468b5e9236a5bc6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad21822cd028feaf8241cec969b9c43be"><td class="memItemLeft" align="right" valign="top"><a id="ad21822cd028feaf8241cec969b9c43be"></a>
std::vector&lt; std::vector&lt; double &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#ad21822cd028feaf8241cec969b9c43be">dy_data_</a></td></tr>
<tr class="memdesc:ad21822cd028feaf8241cec969b9c43be"><td class="mdescLeft">&#160;</td><td class="mdescRight">The nested vector of the y component of the gradient at each [x,y] location. <br /></td></tr>
<tr class="separator:ad21822cd028feaf8241cec969b9c43be"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a70ba95777d116fcbd2b44a66dfcfc5a2"><td class="memItemLeft" align="right" valign="top"><a id="a70ba95777d116fcbd2b44a66dfcfc5a2"></a>
std::vector&lt; std::vector&lt; double &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFastTerrainMap.html#a70ba95777d116fcbd2b44a66dfcfc5a2">dz_data_</a></td></tr>
<tr class="memdesc:a70ba95777d116fcbd2b44a66dfcfc5a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">The nested vector of the z component of the gradient at each [x,y] location. <br /></td></tr>
<tr class="separator:a70ba95777d116fcbd2b44a66dfcfc5a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>A terrain map class built for fast and efficient sampling. </p>
<p><a class="el" href="classFastTerrainMap.html" title="A terrain map class built for fast and efficient sampling. ">FastTerrainMap</a> is a class built for lightweight and efficient sampling of the terrain for height and slope. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="ab243ccba0680afb064c70bead54bf126"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab243ccba0680afb064c70bead54bf126">&#9670;&nbsp;</a></span>FastTerrainMap()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">FastTerrainMap::FastTerrainMap </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor for <a class="el" href="classFastTerrainMap.html" title="A terrain map class built for fast and efficient sampling. ">FastTerrainMap</a> Class. </p>
<dl class="section return"><dt>Returns</dt><dd>Constructed object of type <a class="el" href="classFastTerrainMap.html" title="A terrain map class built for fast and efficient sampling. ">FastTerrainMap</a> </dd></dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a1234e83ea4c55f1d92a0120254f120a1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1234e83ea4c55f1d92a0120254f120a1">&#9670;&nbsp;</a></span>getGroundHeight()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double FastTerrainMap::getGroundHeight </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>y</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Return the ground height at a requested location. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">double</td><td>x location </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">double</td><td>y location </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>double ground height at location [x,y] </dd></dl>

</div>
</div>
<a id="ae560c6b4bfd86639f71efec2a320d142"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae560c6b4bfd86639f71efec2a320d142">&#9670;&nbsp;</a></span>getSurfaceNormal()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">std::array&lt; double, 3 &gt; FastTerrainMap::getSurfaceNormal </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>y</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Return the surface normal at a requested location. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">double</td><td>x location </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">double</td><td>y location </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>std::array&lt;double, 3&gt; surface normal at location [x,y] </dd></dl>

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</div>
<a id="a9f48ea3fc615c925917b7c89c363b252"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9f48ea3fc615c925917b7c89c363b252">&#9670;&nbsp;</a></span>getXData()</h2>

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          <td class="memname">std::vector&lt; double &gt; FastTerrainMap::getXData </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Return the vector of x_data of the map. </p>
<dl class="section return"><dt>Returns</dt><dd>std::vector&lt;double&gt; of x locations in the grid </dd></dl>

</div>
</div>
<a id="a21322eeb034be71b4f99637e317e9e7e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a21322eeb034be71b4f99637e317e9e7e">&#9670;&nbsp;</a></span>getYData()</h2>

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          <td class="memname">std::vector&lt; double &gt; FastTerrainMap::getYData </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Return the vector of y_data of the map. </p>
<dl class="section return"><dt>Returns</dt><dd>std::vector&lt;double&gt; of y locations in the grid </dd></dl>

</div>
</div>
<a id="a45eff1e523336373471a12c2a8ec12e6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a45eff1e523336373471a12c2a8ec12e6">&#9670;&nbsp;</a></span>loadData()</h2>

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          <td class="memname">void FastTerrainMap::loadData </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>x_size</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>y_size</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; double &gt;&#160;</td>
          <td class="paramname"><em>x_data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; double &gt;&#160;</td>
          <td class="paramname"><em>y_data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; std::vector&lt; double &gt;&gt;&#160;</td>
          <td class="paramname"><em>z_data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; std::vector&lt; double &gt;&gt;&#160;</td>
          <td class="paramname"><em>dx_data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; std::vector&lt; double &gt;&gt;&#160;</td>
          <td class="paramname"><em>dy_data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; std::vector&lt; double &gt;&gt;&#160;</td>
          <td class="paramname"><em>dz_data</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Load data from a grid_map::GridMap object into a <a class="el" href="classFastTerrainMap.html" title="A terrain map class built for fast and efficient sampling. ">FastTerrainMap</a> object. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">int</td><td>The number of elements in the x direction </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">int</td><td>The number of elements in the xy direction </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">std::vector&lt;double&gt;</td><td>The vector of x data </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">std::vector&lt;double&gt;</td><td>The vector of y data </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">std::vector&lt;std::vector&lt;double&gt;&gt;</td><td>The nested vector of z data at each [x,y] location </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">std::vector&lt;std::vector&lt;double&gt;&gt;</td><td>The nested vector of the x component of the gradient at each [x,y] location </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">std::vector&lt;std::vector&lt;double&gt;&gt;</td><td>The nested vector of the y component of the gradient at each [x,y] location </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">std::vector&lt;std::vector&lt;double&gt;&gt;</td><td>The nested vector of the z component of the gradient at each [x,y] location </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a401cdefb0d963918d0ce29e41aeddbbb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a401cdefb0d963918d0ce29e41aeddbbb">&#9670;&nbsp;</a></span>loadDataFromGridMap()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void FastTerrainMap::loadDataFromGridMap </td>
          <td>(</td>
          <td class="paramtype">grid_map::GridMap&#160;</td>
          <td class="paramname"><em>map</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Load data from a grid_map::GridMap object into a <a class="el" href="classFastTerrainMap.html" title="A terrain map class built for fast and efficient sampling. ">FastTerrainMap</a> object. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">grid_map::GridMap</td><td>object with map data </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>include/global_body_planner/<a class="el" href="fast__terrain__map_8h_source.html">fast_terrain_map.h</a></li>
<li>src/fast_terrain_map.cpp</li>
</ul>
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